The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

MSc Thesis #92111

Title:Soma Parts Recognition Using a Steerable Whisker Sensor
Date: 1992
Abstract:The steerable whisker sensing system used in this project was developed in an MSc project in 1991. My aim was to further its use by developing a technique for Soma parts recognition. The steerable whisker sensor comprises a ceramic (piezo-electric) record player cartridge with a whisker attached. This was carried by an RTX robot and used to sense the vibration of contact with an object, and the contact position recorded. Unwanted vibration present due to the shakiness of the robot was filtered out by a combined software and hardware approaches. The recognition algorithm, developed in this project, was an active touch sensing algorithm. It included searching, representation, and matching. The simple geometric of the Soma parts permitted the 3D searching algorithm to be simplified into a layered 2D searching algorithm. The contact points were translated into a simple normalised spine representation for matching with templates.

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